Unless you can partition it into regular object, you cannot. You would have to measure it rather than calculate it.
One method that can be used for insoluble and relatively small and dense objects that are also solid(not containing hollow parts), is the method of displacement. Partially fill a large graduated container with a fluid (such as water). Record the volume of water, V1. Then gently insert the object into the fluid. Make sure it is fully submerged and then measure the volume of the fluid, V2. The volume of the object is equal to the difference in the two volumes, V2 - V1.
This method is does not work in a wide range of real-life situations. It will fail with soluble objects unless you can find a fluid in which it is not soluble. With an unknown object you may not know what fluids will dissolve it.
Obviously it will not work with objects, such as a large boulder, that are too big for any container. Or any object that cannot be moved, such as a statue on a plinth (unless you are prepared to spend time in prison!).
The object needs to be wholly submerged and so measuring the volume of an object that is less dense than the fluid is not easy. You could get around this problem by attaching it to a denser object whose volume you know.
Finally, it the object is hollow you will include the volumes of the cavities in your measure of the volume of the object.
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Partition (or divide) the irregular object into summation of regular objects and then calculate the volume.
You cannot calculate the volume of an object using only the density; you must also calculate the mass.You can calculate the mass by simply weighing the object.Density = Mass / VolumeTherefore Volume = Mass/Density.If you cannot be bothered to calculate the mass, simply measure the object. Multiply the length, times the width, times the height and you have the volume.
The volume of a solid object such as a rock or pebble can be determined by submerging it in a liquid in a graduated cylinder or other container. The difference in the volume of the liquid is the volume of the object.
conclusion
You have to multiply the density by the volume to get the mass of the object.